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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pri-types">Private 类型</a> &#124;
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<div class="title">pcl::visualization::PointCloudColorHandlerRGBField&lt; PointT &gt; 模板类 参考</div>  </div>
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<p><a class="el" href="structpcl_1_1_r_g_b.html" title="A structure representing RGB color information.">RGB</a> handler class for colors. Uses the data present in the "rgb" or "rgba" fields as the color at each point.  
 <a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="point__cloud__color__handlers_8h_source.html">point_cloud_color_handlers.h</a>&gt;</code></p>
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类 pcl::visualization::PointCloudColorHandlerRGBField&lt; PointT &gt; 继承关系图:</div>
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  <img src="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.png" usemap="#pcl::visualization::PointCloudColorHandlerRGBField_3C_20PointT_20_3E_map" alt=""/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a76e9a15fcfd8e95f32abc58950dff768"><td class="memItemLeft" align="right" valign="top"><a id="a76e9a15fcfd8e95f32abc58950dff768"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html">PointCloudColorHandlerRGBField</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a76e9a15fcfd8e95f32abc58950dff768"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4fc715b361b89a38672a3f484d825767"><td class="memItemLeft" align="right" valign="top"><a id="a4fc715b361b89a38672a3f484d825767"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html">PointCloudColorHandlerRGBField</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1visualization_1_1_point_cloud_color_handler')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html">pcl::visualization::PointCloudColorHandler&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a9b2953acc70faa002bd19c830851c0dd inherit pub_types_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="memItemLeft" align="right" valign="top"><a id="a9b2953acc70faa002bd19c830851c0dd"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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<tr class="memitem:ac2cba8b2c3d084b4f307581169c450d9 inherit pub_types_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="memItemLeft" align="right" valign="top"><a id="ac2cba8b2c3d084b4f307581169c450d9"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html">PointCloudColorHandler</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html">PointCloudColorHandler</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a763135f5bdfba31cfcffa8c6d5fbdaa8"><td class="memItemLeft" align="right" valign="top"><a id="a763135f5bdfba31cfcffa8c6d5fbdaa8"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html#a763135f5bdfba31cfcffa8c6d5fbdaa8">PointCloudColorHandlerRGBField</a> ()</td></tr>
<tr class="memdesc:a763135f5bdfba31cfcffa8c6d5fbdaa8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
<tr class="separator:a763135f5bdfba31cfcffa8c6d5fbdaa8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9dc5066d611beeb1c742805937ff058e"><td class="memItemLeft" align="right" valign="top"><a id="a9dc5066d611beeb1c742805937ff058e"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html#a9dc5066d611beeb1c742805937ff058e">PointCloudColorHandlerRGBField</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a9dc5066d611beeb1c742805937ff058e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
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<tr class="memitem:ae15d93e81e163211a230721269c3155b"><td class="memItemLeft" align="right" valign="top"><a id="ae15d93e81e163211a230721269c3155b"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html#ae15d93e81e163211a230721269c3155b">~PointCloudColorHandlerRGBField</a> ()</td></tr>
<tr class="memdesc:ae15d93e81e163211a230721269c3155b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="memitem:a6ff0c051de0b1deae6074c216bc85698"><td class="memItemLeft" align="right" valign="top"><a id="a6ff0c051de0b1deae6074c216bc85698"></a>
virtual std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html#a6ff0c051de0b1deae6074c216bc85698">getFieldName</a> () const</td></tr>
<tr class="memdesc:a6ff0c051de0b1deae6074c216bc85698"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the name of the field used. <br /></td></tr>
<tr class="separator:a6ff0c051de0b1deae6074c216bc85698"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3a12577b02b7a46d5a187473c12fd1fc"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html#a3a12577b02b7a46d5a187473c12fd1fc">getColor</a> (<a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkDataArray &gt; &amp;scalars) const</td></tr>
<tr class="memdesc:a3a12577b02b7a46d5a187473c12fd1fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain the actual color for the input dataset as vtk scalars.  <a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html#a3a12577b02b7a46d5a187473c12fd1fc">更多...</a><br /></td></tr>
<tr class="separator:a3a12577b02b7a46d5a187473c12fd1fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afda90e196c558d870e32222ef58628c3"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html#afda90e196c558d870e32222ef58628c3">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:afda90e196c558d870e32222ef58628c3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the input cloud to be used.  <a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html#afda90e196c558d870e32222ef58628c3">更多...</a><br /></td></tr>
<tr class="separator:afda90e196c558d870e32222ef58628c3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1visualization_1_1_point_cloud_color_handler')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html">pcl::visualization::PointCloudColorHandler&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a18678dfd183c2efb1bfaf73fcf457452 inherit pub_methods_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="memItemLeft" align="right" valign="top"><a id="a18678dfd183c2efb1bfaf73fcf457452"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a18678dfd183c2efb1bfaf73fcf457452">PointCloudColorHandler</a> ()</td></tr>
<tr class="memdesc:a18678dfd183c2efb1bfaf73fcf457452 inherit pub_methods_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
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<tr class="memitem:ada127fd3421f281d15531488bbbc3f0e inherit pub_methods_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="memItemLeft" align="right" valign="top"><a id="ada127fd3421f281d15531488bbbc3f0e"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#ada127fd3421f281d15531488bbbc3f0e">PointCloudColorHandler</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:ada127fd3421f281d15531488bbbc3f0e inherit pub_methods_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
<tr class="separator:ada127fd3421f281d15531488bbbc3f0e inherit pub_methods_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6390912de56cda106a17b9ed619fd94a inherit pub_methods_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="memItemLeft" align="right" valign="top"><a id="a6390912de56cda106a17b9ed619fd94a"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a6390912de56cda106a17b9ed619fd94a">~PointCloudColorHandler</a> ()</td></tr>
<tr class="memdesc:a6390912de56cda106a17b9ed619fd94a inherit pub_methods_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:a6390912de56cda106a17b9ed619fd94a inherit pub_methods_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a78d414ffb3e0c6c269cac031c1cba218 inherit pub_methods_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="memItemLeft" align="right" valign="top"><a id="a78d414ffb3e0c6c269cac031c1cba218"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a78d414ffb3e0c6c269cac031c1cba218">isCapable</a> () const</td></tr>
<tr class="memdesc:a78d414ffb3e0c6c269cac031c1cba218 inherit pub_methods_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if this handler is capable of handling the input data or not. <br /></td></tr>
<tr class="separator:a78d414ffb3e0c6c269cac031c1cba218 inherit pub_methods_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:adc4324be0bec9bd48134d4ef017bcd0b"><td class="memItemLeft" align="right" valign="top"><a id="adc4324be0bec9bd48134d4ef017bcd0b"></a>
virtual std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html#adc4324be0bec9bd48134d4ef017bcd0b">getName</a> () const</td></tr>
<tr class="memdesc:adc4324be0bec9bd48134d4ef017bcd0b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class getName method. <br /></td></tr>
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Private 类型</h2></td></tr>
<tr class="memitem:a9e8e79653ddd21c32b8533aa42aeefd9"><td class="memItemLeft" align="right" valign="top"><a id="a9e8e79653ddd21c32b8533aa42aeefd9"></a>
typedef <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html">PointCloudColorHandler</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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<tr class="memitem:a85b82ed1df99063cce7d94dbc0d31a60"><td class="memItemLeft" align="right" valign="top"><a id="a85b82ed1df99063cce7d94dbc0d31a60"></a>
typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1visualization_1_1_point_cloud_color_handler')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html">pcl::visualization::PointCloudColorHandler&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a792e2bb434adab01260cc3bfc5fd633f inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="memItemLeft" align="right" valign="top"><a id="a792e2bb434adab01260cc3bfc5fd633f"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a792e2bb434adab01260cc3bfc5fd633f">cloud_</a></td></tr>
<tr class="memdesc:a792e2bb434adab01260cc3bfc5fd633f inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the input dataset. <br /></td></tr>
<tr class="separator:a792e2bb434adab01260cc3bfc5fd633f inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a667ee20514feb3d83ea205d39a2efe5f inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="memItemLeft" align="right" valign="top"><a id="a667ee20514feb3d83ea205d39a2efe5f"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a667ee20514feb3d83ea205d39a2efe5f">capable_</a></td></tr>
<tr class="memdesc:a667ee20514feb3d83ea205d39a2efe5f inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if this handler is capable of handling the input data, false otherwise. <br /></td></tr>
<tr class="separator:a667ee20514feb3d83ea205d39a2efe5f inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af802304b20568b48ea9da0f203128ff8 inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="memItemLeft" align="right" valign="top"><a id="af802304b20568b48ea9da0f203128ff8"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#af802304b20568b48ea9da0f203128ff8">field_idx_</a></td></tr>
<tr class="memdesc:af802304b20568b48ea9da0f203128ff8 inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="mdescLeft">&#160;</td><td class="mdescRight">The index of the field holding the data that represents the color. <br /></td></tr>
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<tr class="memitem:aba3fc6b22d44f778e126f94550b7f932 inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="memItemLeft" align="right" valign="top"><a id="aba3fc6b22d44f778e126f94550b7f932"></a>
std::vector&lt; <a class="el" href="structpcl_1_1_p_c_l_point_field.html">pcl::PCLPointField</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#aba3fc6b22d44f778e126f94550b7f932">fields_</a></td></tr>
<tr class="memdesc:aba3fc6b22d44f778e126f94550b7f932 inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_color_handler"><td class="mdescLeft">&#160;</td><td class="mdescRight">The list of fields available for this <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::visualization::PointCloudColorHandlerRGBField&lt; PointT &gt;</h3>

<p><a class="el" href="structpcl_1_1_r_g_b.html" title="A structure representing RGB color information.">RGB</a> handler class for colors. Uses the data present in the "rgb" or "rgba" fields as the color at each point. </p>
<dl class="section author"><dt>作者</dt><dd>Radu B. Rusu </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a3a12577b02b7a46d5a187473c12fd1fc"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3a12577b02b7a46d5a187473c12fd1fc">&#9670;&nbsp;</a></span>getColor()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname">bool <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html">pcl::visualization::PointCloudColorHandlerRGBField</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getColor </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkDataArray &gt; &amp;&#160;</td>
          <td class="paramname"><em>scalars</em></td><td>)</td>
          <td> const</td>
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<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
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<p>Obtain the actual color for the input dataset as vtk scalars. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">scalars</td><td>the output scalars containing the color for the dataset </td></tr>
  </table>
  </dd>
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<dl class="section return"><dt>返回</dt><dd>true if the operation was successful (the handler is capable and the input cloud was given as a valid pointer), false otherwise </dd></dl>

<p>实现了 <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a788257a9e86e041c78a8f8e3250eec7a">pcl::visualization::PointCloudColorHandler&lt; PointT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;{</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a667ee20514feb3d83ea205d39a2efe5f">capable_</a> || !<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a792e2bb434adab01260cc3bfc5fd633f">cloud_</a>)</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;   <span class="comment">// Get the RGB field index</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  std::vector&lt;pcl::PCLPointField&gt; fields;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keywordtype">int</span> rgba_index = -1;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  rgba_index = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a792e2bb434adab01260cc3bfc5fd633f">cloud_</a>, <span class="stringliteral">&quot;rgb&quot;</span>, fields);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="keywordflow">if</span> (rgba_index == -1)</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    rgba_index = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a792e2bb434adab01260cc3bfc5fd633f">cloud_</a>, <span class="stringliteral">&quot;rgba&quot;</span>, fields);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="keywordtype">int</span> rgba_offset = fields[rgba_index].offset;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <span class="keywordflow">if</span> (!scalars)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    scalars = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkUnsignedCharArray&gt;::New</a> ();</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  scalars-&gt;SetNumberOfComponents (3);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  vtkIdType nr_points = <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a792e2bb434adab01260cc3bfc5fd633f">cloud_</a>-&gt;points.size ();</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keyword">reinterpret_cast&lt;</span>vtkUnsignedCharArray*<span class="keyword">&gt;</span>(&amp;(*scalars))-&gt;SetNumberOfTuples (nr_points);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* colors = <span class="keyword">reinterpret_cast&lt;</span>vtkUnsignedCharArray*<span class="keyword">&gt;</span>(&amp;(*scalars))-&gt;GetPointer (0);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  <span class="keywordtype">int</span> j = 0;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  <span class="comment">// If XYZ present, check if the points are invalid</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="keywordtype">int</span> x_idx = -1;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> d = 0; d &lt; <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#aba3fc6b22d44f778e126f94550b7f932">fields_</a>.size (); ++d)</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#aba3fc6b22d44f778e126f94550b7f932">fields_</a>[d].name == <span class="stringliteral">&quot;x&quot;</span>)</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      x_idx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (d);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> rgb;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="keywordflow">if</span> (x_idx != -1)</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  {</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="comment">// Color every point</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keywordflow">for</span> (vtkIdType cp = 0; cp &lt; nr_points; ++cp)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    {</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="comment">// Copy the value at the specified field</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a792e2bb434adab01260cc3bfc5fd633f">cloud_</a>-&gt;points[cp].x) ||</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;          !pcl_isfinite (<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a792e2bb434adab01260cc3bfc5fd633f">cloud_</a>-&gt;points[cp].y) || </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;          !pcl_isfinite (<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a792e2bb434adab01260cc3bfc5fd633f">cloud_</a>-&gt;points[cp].z))</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      memcpy (&amp;rgb, (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span> *<span class="keyword">&gt;</span> (&amp;<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a792e2bb434adab01260cc3bfc5fd633f">cloud_</a>-&gt;points[cp])) + rgba_offset, sizeof (<a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a>));</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      colors[j    ] = rgb.r;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      colors[j + 1] = rgb.g;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      colors[j + 2] = rgb.b;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      j += 3;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    }</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  }</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  {</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="comment">// Color every point</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordflow">for</span> (vtkIdType cp = 0; cp &lt; nr_points; ++cp)</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      <span class="keywordtype">int</span> idx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cp) * 3;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      memcpy (&amp;rgb, (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span> *<span class="keyword">&gt;</span> (&amp;<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a792e2bb434adab01260cc3bfc5fd633f">cloud_</a>-&gt;points[cp])) + rgba_offset, sizeof (<a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a>));</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      colors[idx    ] = rgb.r;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      colors[idx + 1] = rgb.g;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      colors[idx + 2] = rgb.b;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  }</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_html_a667ee20514feb3d83ea205d39a2efe5f"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a667ee20514feb3d83ea205d39a2efe5f">pcl::visualization::PointCloudColorHandler::capable_</a></div><div class="ttdeci">bool capable_</div><div class="ttdoc">True if this handler is capable of handling the input data, false otherwise.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_html_a792e2bb434adab01260cc3bfc5fd633f"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a792e2bb434adab01260cc3bfc5fd633f">pcl::visualization::PointCloudColorHandler::cloud_</a></div><div class="ttdeci">PointCloudConstPtr cloud_</div><div class="ttdoc">A pointer to the input dataset.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.h:118</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_html_aba3fc6b22d44f778e126f94550b7f932"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#aba3fc6b22d44f778e126f94550b7f932">pcl::visualization::PointCloudColorHandler::fields_</a></div><div class="ttdeci">std::vector&lt; pcl::PCLPointField &gt; fields_</div><div class="ttdoc">The list of fields available for this PointCloud.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.h:129</div></div>
<div class="ttc" id="aclassvtk_smart_pointer_html"><div class="ttname"><a href="classvtk_smart_pointer.html">vtkSmartPointer</a></div><div class="ttdef"><b>Definition:</b> actor_map.h:50</div></div>
<div class="ttc" id="agroup__common_html_ga2bc4b9a4e25de1d0b00db4e41f0ad682"><div class="ttname"><a href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a></div><div class="ttdeci">int getFieldIndex(const pcl::PCLPointCloud2 &amp;cloud, const std::string &amp;field_name)</div><div class="ttdoc">Get the index of a specified field (i.e., dimension/channel)</div><div class="ttdef"><b>Definition:</b> io.h:59</div></div>
<div class="ttc" id="astructpcl_1_1_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_r_g_b.html">pcl::RGB</a></div><div class="ttdoc">A structure representing RGB color information.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:334</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#afda90e196c558d870e32222ef58628c3">&#9670;&nbsp;</a></span>setInputCloud()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_r_g_b_field.html">pcl::visualization::PointCloudColorHandlerRGBField</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setInputCloud </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
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<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
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<p>Set the input cloud to be used. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the input cloud to be used by the handler </td></tr>
  </table>
  </dd>
</dl>

<p>重载 <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a853e39570f293fdc6a683d57d4791632">pcl::visualization::PointCloudColorHandler&lt; PointT &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;{</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a853e39570f293fdc6a683d57d4791632">PointCloudColorHandler&lt;PointT&gt;::setInputCloud</a> (cloud);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="comment">// Handle the 24-bit packed RGB values</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#af802304b20568b48ea9da0f203128ff8">field_idx_</a> = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, <span class="stringliteral">&quot;rgb&quot;</span>, <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#aba3fc6b22d44f778e126f94550b7f932">fields_</a>);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#af802304b20568b48ea9da0f203128ff8">field_idx_</a> != -1)</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  {</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a667ee20514feb3d83ea205d39a2efe5f">capable_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#af802304b20568b48ea9da0f203128ff8">field_idx_</a> = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, <span class="stringliteral">&quot;rgba&quot;</span>, <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#aba3fc6b22d44f778e126f94550b7f932">fields_</a>);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#af802304b20568b48ea9da0f203128ff8">field_idx_</a> != -1)</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a667ee20514feb3d83ea205d39a2efe5f">capable_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a667ee20514feb3d83ea205d39a2efe5f">capable_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_html_a853e39570f293fdc6a683d57d4791632"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#a853e39570f293fdc6a683d57d4791632">pcl::visualization::PointCloudColorHandler::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Set the input cloud to be used.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.h:111</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_html_af802304b20568b48ea9da0f203128ff8"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler.html#af802304b20568b48ea9da0f203128ff8">pcl::visualization::PointCloudColorHandler::field_idx_</a></div><div class="ttdeci">int field_idx_</div><div class="ttdoc">The index of the field holding the data that represents the color.</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.h:126</div></div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>visualization/include/pcl/visualization/<a class="el" href="point__cloud__color__handlers_8h_source.html">point_cloud_color_handlers.h</a></li>
<li>visualization/include/pcl/visualization/impl/<a class="el" href="point__cloud__color__handlers_8hpp_source.html">point_cloud_color_handlers.hpp</a></li>
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